<!DOCTYPE html>
<html class="writer-html5" lang="en" >
<head>
  <meta charset="utf-8" />
  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
  <title>bosdyn.client.frame_helpers &mdash; Spot 5.0.1.1 documentation</title>
      <link rel="stylesheet" href="../../../_static/pygments.css" type="text/css" />
      <link rel="stylesheet" href="../../../_static/style.css" type="text/css" />
    <link rel="shortcut icon" href="../../../_static/bd-favicon.png"/>
    <link rel="canonical" href="https://dev.bostondynamics.com/_modules/bosdyn/client/frame_helpers.html" />
  <!--[if lt IE 9]>
    <script src="../../../_static/js/html5shiv.min.js"></script>
  <![endif]-->
  
        <script src="../../../_static/jquery.js"></script>
        <script src="../../../_static/_sphinx_javascript_frameworks_compat.js"></script>
        <script data-url_root="../../../" id="documentation_options" src="../../../_static/documentation_options.js"></script>
        <script src="../../../_static/doctools.js"></script>
        <script src="../../../_static/sphinx_highlight.js"></script>
    <script src="../../../_static/js/theme.js"></script>
    <link rel="index" title="Index" href="../../../genindex.html" />
    <link rel="search" title="Search" href="../../../search.html" /> 
</head>

<body class="wy-body-for-nav"> 
  <div class="wy-grid-for-nav">
    <nav data-toggle="wy-nav-shift" class="wy-nav-side">
      <div class="wy-side-scroll">
        <div class="wy-side-nav-search" >

          
          
          <a href="../../../README.html">
            
              <img src="../../../_static/bd-official-white.png" class="logo" alt="Logo"/>
          </a>
              <div class="version">
                5.0.1.1
              </div>
<div role="search">
  <form id="rtd-search-form" class="wy-form" action="../../../search.html" method="get">
    <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
    <input type="hidden" name="check_keywords" value="yes" />
    <input type="hidden" name="area" value="default" />
  </form>
</div>
        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
              <ul>
<li class="toctree-l1"><a class="reference internal" href="../../../docs/concepts/README.html">Concepts</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/concepts/about_spot.html">About Spot</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/concepts/orbit/about_orbit.html">About Orbit (formerly Scout)</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/concepts/orbit/orbit_api.html">Orbit API</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/concepts/networking.html">Networking</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/concepts/base_services.html">Base services</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/concepts/geometry_and_frames.html">Geometry and Frames</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/concepts/robot_services.html">Robot services</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/concepts/estop_service.html">E-Stop</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/concepts/keepalive_service.html">KeepAlive (BETA)</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/concepts/audio_visual.html">Audio Visual</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/concepts/lease_service.html">Lease</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/concepts/developing_api_services.html">Developing API Services</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/concepts/service_customization.html">Service Customization</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/concepts/faults.html">Faults</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/concepts/autonomy/README.html">Autonomy services</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/concepts/autonomy/graphnav_tech_summary.html">Autonomy Technical Summary</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/concepts/autonomy/autonomous_navigation_code_examples.html">Autonomous navigation code examples</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/concepts/autonomy/components_of_autonomous_navigation.html">Components of autonomous navigation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/concepts/autonomy/docking.html">Docking</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/concepts/autonomy/typical_autonomous_navigation_use_case.html">Typical autonomous navigation use case</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/concepts/autonomy/autonomous_navigation_services.html">Autonomous navigation services</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/concepts/autonomy/graphnav_service.html">GraphNav service</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/concepts/autonomy/graphnav_map_structure.html">GraphNav map structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/concepts/autonomy/graphnav_area_callbacks.html">GraphNav area callbacks</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/concepts/autonomy/initialization.html">Initialization</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/concepts/autonomy/localization.html">Localization</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/concepts/autonomy/graphnav_and_robot_locomotion.html">GraphNav and robot locomotion</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/concepts/autonomy/missions_service.html">Missions service</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/concepts/autonomy/autowalk_service.html">Autowalk service</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/concepts/network_compute_bridge.html">Network compute bridge</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/concepts/autonomy/auto_return.html">AutoReturn service</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/concepts/autonomy/directed_exploration.html">Directed Exploration</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/concepts/autonomy/gps.html">GPS</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/concepts/choreography/README.html">Choreography</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/concepts/choreography/choreography_service.html">Choreography Service</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/concepts/choreography/move_reference.html">Move Reference Guide</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/concepts/choreography/custom_gait.html">CustomGait Reference</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/concepts/choreography/choreographer_setup.html">Choreographer Setup</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/concepts/choreography/choreographer.html">Choreographer Overview</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/concepts/choreography/robot_controls_in_choreographer.html">Robot Connections in Choreographer</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/concepts/choreography/animations_in_choreographer.html">Animations in Choreography</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/concepts/choreography/animation_file_specification.html">Animation File Format</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/concepts/choreography/choreography_in_tablet.html">Tablet Choreography Mode</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/concepts/choreography/choreography_in_autowalk.html">Choreography Actions in Autowalk</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/concepts/joint_control/README.html">Joint Control API</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/concepts/joint_control/supplemental_data.html">Supplemental Robot Information</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../docs/concepts/joint_control/knee_torque_limits.html">Knee Torque Limits</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/concepts/arm/README.html">Spot Arm</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/concepts/arm/arm_specification.html">Arm and Gripper Specification</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/concepts/arm/arm_concepts.html">Concepts</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/concepts/arm/arm_services.html">Services</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/concepts/data.html">Spot Data</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/concepts/data_acquisition_overview.html">Data Acquisition Overview</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/concepts/data_acquisition_output.html">Data Acquisition Output</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/concepts/writing_services_for_data_acquisition.html">Integrate Payloads with the API</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/concepts/data_buffer_overview.html">Data Buffer Overview</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/concepts/bddf.html">BDDF File Format</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/concepts/data_acquisition_thermal_raw.html">Thermal Raw Data Format</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../../../docs/python/README.html">Python</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/python/quickstart.html">Quickstart</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/python/understanding_spot_programming.html">Understanding Spot Programming</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../python/examples/README.html">Examples</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../python/examples/docs/basic_service_examples.html">Basic Service Examples</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/hello_spot/README.html">Hello Spot</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/directory/README.html">Directory</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/get_robot_state/README.html">Get Robot State</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/get_robot_state_async/README.html">Get Robot State Async</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/get_image/README.html">Get Image</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/get_world_objects/README.html">Get World Objects</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/get_mission_state/README.html">Get Mission State</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/estop/README.html">E-Stop</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/time_sync/README.html">Time Sync</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/comms_test/README.html">Comms Test</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/disable_ir_emission/README.html">IR Enable/Disable</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/reset_safety_stop/README.html">Reset Safety Stop</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/audio_visual/audio_visual_params/README.html">Audio Visual Params</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/audio_visual/audio_visual_behaviors/README.html">Audio Visual Behaviors</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../../python/examples/docs/robot_behavior_examples.html">Robot Behavior and Commands Examples</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/stance/README.html">Stance</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/frame_trajectory_command/README.html">Frame Trajectory</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/spot_light/README.html">Spot Light</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/upload_choreographed_sequence/README.html">Upload Choreographed Sequence</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/xbox_controller/README.html">Xbox Controller</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/wasd/README.html">WASD</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/docking/README.html">Docking</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/animation_recorder/README.html">Animation Recorder</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/auto_return/README.html">Auto Return</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/fan_command/README.html">Fan Commands</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/arm_wasd/README.html">ARM WASD</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../../python/examples/docs/arm_examples.html">Arm Command Examples</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/arm_simple/README.html">Simple Arm Motion</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/arm_stow_unstow/README.html">Stow/unstow Arm</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/arm_freeze/README.html">Arm Freeze</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/arm_and_mobility_command/README.html">Arm and Mobility Command</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/arm_with_body_follow/README.html">Arm Command with Body Following</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/arm_constrained_manipulation/README.html">Arm Constrained Manipulation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/arm_trajectory/README.html">Arm Trajectory</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/arm_trajectory/README.html#long-trajectory">Long Trajectory</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/arm_joint_move/README.html">Arm Joint Move Command</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/arm_force_control/README.html">Arm Force Control Command</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/arm_grasp/README.html">Arm Grasp Command</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/arm_grasp_carry_overrides/README.html">Arm Grasp and Carry Overrides</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/arm_gaze/README.html">Arm Gaze Command</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/arm_surface_contact/README.html">Arm Command with Surface Contact</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/arm_door/README.html">Arm Door Opening Command</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/arm_walk_to_object/README.html">Walk to And Pick Up Object</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/arm_gcode/README.html">Writing Gcode</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/gripper_camera_params/README.html">Gripper Camera Parameters</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/arm_impedance_control/README.html">Arm Impedance Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/inverse_kinematics/README.html">Inverse Kinematics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/arm_wasd/README.html">Arm WASD</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/joint_control/README.html">Wiggle Arm</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../../python/examples/docs/payloads_examples.html">Payloads and Registration Examples</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/payloads/README.html">Payloads</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/self_registration/README.html">Self Registration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/service_faults/README.html">Faults</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/velodyne_client/README.html">Velodyne</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/core_io_gpio/README.html">CORE I/O GPIO</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/metrics_over_coreio/README.html">Overview</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/metrics_over_coreio/README.html#usage">Usage</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/metrics_over_coreio/README.html#components">Components</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/metrics_over_coreio/README.html#recommended-debugging">Recommended debugging</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/extensions/README.html">Extensions</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../../python/examples/docs/perception_world_objects_examples.html">Perception and World Objects Examples</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/get_image/README.html">Get Image</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/get_world_objects/README.html">Get World Objects</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/world_object_with_image_coordinates/README.html">World Object With Image Coordinates</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/world_object_mutations/README.html">World Object Mutations</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/visualizer/README.html">Visualizer</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/gripper_camera_params/README.html">Gripper Camera Parameters</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/spot_cam/README.html">Spot CAM Services</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/spot_cam/README.html#spot-cam-video-core-io-extension-example">Spot Cam Video Core IO Extension Example</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/stitch_front_images/README.html">Stitch Front Images</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/get_depth_plus_visual_image/README.html">Project Depth Data on Visual Images</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/service_customization/custom_parameter_image_server/README.html">Custom Parameter Image Server</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/fiducial_follow/README.html">Fiducial Follow</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/spot_tensorflow_detector/README.html">Tensorflow Detector</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/service_customization/custom_parameter_ncb_worker/README.html">Custom Parameter Tensorflow Detector</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/network_compute_bridge/README.html">Machine Learning with the Network Compute Bridge</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/network_compute_bridge/fire_extinguisher_server/README.html">Fire Extinguisher Detector with the Network Compute Bridge</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/ray_cast/README.html">Ray Cast</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/user_nogo_regions/README.html">No-Go Regions</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/gps_service/README.html">GPS</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../../python/examples/docs/logging_examples.html">Logging Examples</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/bddf_download/README.html">BDDF Download</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/data_buffer/README.html">Data Buffer</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/data_service/README.html">Data Service</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/logging/README.html">Logging</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/log_status/README.html">Log Status</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../../python/examples/docs/data_acquisition_examples.html">Data Acquisition Examples</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/data_acquisition_service/README.html">Data Acquisition Service</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../../python/examples/data_acquisition_service/signals_coreio_modem_plugin/README.html">Modem Signals</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/service_faults/README.html">Faults</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/service_customization/custom_parameter_image_server/README.html">Custom Parameter Image Service</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/service_customization/custom_parameters_data_acquisition/README.html">Custom Parameter Data Acquisition Plugin</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/get_image/README.html">Test Image Service Implementation with Get Image</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/post_docking_callbacks/README.html">Post Docking Callbacks</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/cloud_upload/README.html">Cloud Upload</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/comms_mapping/README.html">Comms image service</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/comms_mapping/README.html#how-to-use">How to use</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/data_acquisition_service/signals_coreio_modem_plugin/README.html">CoreIO Modem Signals Plugin</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/tester_programs/README.html">Tester Programs</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../../python/examples/docs/autonomy_and_missions_examples.html">Autonomy and Missions Examples</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/graph_nav_anchoring_optimization/README.html">Graph Nav Anchoring Optimization</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/graph_nav_command_line/README.html">GraphNav and Recording Service Command Line Interfaces</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/graph_nav_command_line/README.html#example-programs">Example Programs</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/graph_nav_extract_point_cloud/README.html">Graph Nav Extract Point Cloud</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/graph_nav_view_map/README.html">Graph Nav View Map</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/graph_nav_view_gps/README.html">Graph Nav View GPS Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/get_mission_state/README.html">Get Mission State</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/remote_mission_service/README.html">Remote Mission Service</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/mission_question_answerer/README.html">Mission Question Answerer</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/mission_recorder/README.html">Mission Recorder</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/replay_mission/README.html">Replay Mission</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/post_docking_callbacks/README.html">Post Docking Callbacks</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/area_callback/README.html">Area Callbacks</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/edit_autowalk/README.html">Edit Autowalk</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/record_autowalk/README.html">Record Autowalk</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/extract_images_from_walk/README.html">Extract Images from Autowalk</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/network_request_callback/README.html">Network Request Callback</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/network_request_callback/README.html#id1">Network Request Callback</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/remote_mission_service/spot_check/README.html">SpotCheck Mission Service</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../../python/examples/docs/joint_control_examples.html">Joint Control API Examples</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../python/examples/docs/orbit.html">Orbit</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/orbit/hello_orbit/README.html">Hello Orbit</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/orbit/export_run_archives/README.html">Export Run Archives</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/orbit/export_site_walk_archives/README.html">Export Sitewalk Archives</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/orbit/anomalies/README.html">Anomalies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/orbit/schedule_mission/README.html">Schedule Mission</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/orbit/runs_response/README.html">Runs Response</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/orbit/send_robot_back_to_dock/README.html">Return to Dock</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/orbit/toggle_mission_based_on_weather/README.html">Mission Toggle</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/orbit/webhook/README.html">Webhook</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/orbit/backups/README.html">Backups</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/orbit/webhook_integration/README.html">Webhook Integrations</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/examples/orbit/webhook_integration/README.html#example-overview">Example Overview</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../python/README.html">Python Reference Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/README.html">Client</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/area_callback.html">Area Callback</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/area_callback_region_handler_base.html">Area Callback Region Handler</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/area_callback_service_runner.html">Area Callback Service Runner</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/area_callback_service_servicer.html">Area Callback Servicer</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/area_callback_service_utils.html">Area Callback Service Utils</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/arm_surface_contact.html">Arm Surface Contact</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/async_tasks.html">Async Tasks</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/audio_visual.html">Audio Visual</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/audio_visual_helpers.html">Audio Visual Helpers</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/auth.html">Auth</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/auto_return.html">Auto Return</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/autowalk.html">Autowalk</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/bddf.html">BDDF</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/bddf_download.html">BDDF Download</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/channel.html">Channel</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/command_line.html">Command</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/common.html">Common</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/data_acquisition.html">Data Acquisition</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/data_acquisition_helpers.html">Data Acquisition Helpers</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/data_acquisition_plugin.html">Data Acquisition Plugin</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/data_acquisition_plugin_service.html">Data Acquisition Plugin Service</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/data_acquisition_store.html">Data Acquisition Store</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/data_buffer.html">Data Buffer</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/data_chunk.html">Data Chunk</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/data_service.html">Data Service</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/directory_registration.html">Directory Registration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/directory.html">Directory</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/docking.html">Docking</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/door.html">Door</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/estop.html">E-Stop</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/error_callback_result.html">Error Callback Result</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/exceptions.html">Exceptions</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/fault.html">Fault</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/frame_helpers.html">Frame Helpers</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/graph_nav.html">Graph Nav</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/gripper_camera_param.html">Gripper Camera Params</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/gps/README.html">GPS</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/gps/aggregator_client.html">Aggregator Client</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/gps/gps_listener.html">GPS Listener</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/gps/NMEAParser.html">NMEA Parser</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/gps/ntrip_client.html">NTRIP Client</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/gps/registration_client.html">Registration Client</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/image.html">Image</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/image_service_helpers.html">Image Service Helpers</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/inverse_kinematics.html">Inverse Kinematics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/ir_enable_disable.html">IR Enable/Disable</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/keepalive.html">Keep Alive</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/lease.html">Lease</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/lease_resource_hierarchy.html">Lease Resource Hierarchy</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/lease_validator.html">Lease Validator</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/license.html">License</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/local_grid.html">Local Grid</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/log_status.html">Log Status</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/math_helpers.html">Math Helpers</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/manipulation_api_client.html">Manipulation API</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/map_processing.html">Map Processing</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/metrics_logging.html">Metrics Logging</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/network_compute_bridge_client.html">Network Compute Bridge</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/payload_registration.html">Payload Registration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/payload_software_update.html">Payload Software Update</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/payload_software_update_initiation.html">Payload Software Update Initiation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/payload.html">Payload</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/point_cloud.html">Point Cloud</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/power.html">Power</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/processors.html">Processors</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/ray_cast.html">Ray casting</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/recording.html">Recording</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/robot_command.html">Robot Command</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/robot_id.html">Robot ID</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/robot.html">Robot</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/robot_state.html">Robot State</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/sdk.html">SDK</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/server_util.html">Server Util</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/service_customization_helpers.html">Service Customization Helpers</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/signals_helpers.html">Signals Helpers</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/README.html">Spot CAM</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/audio.html">Audio</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/compositor.html">Compositor</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/health.html">Health</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/lighting.html">Lighting</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/lights_helper.html">Lights Helper</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/media_log.html">Media Log</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/network.html">Network</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/power.html">Power</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/ptz.html">PTZ</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/streamquality.html">Stream Quality</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/version.html">Version</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_check.html">Spot Check</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/time_sync.html">Time Sync</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/token_cache.html">Token Cache</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/token_manager.html">Token Manager</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/units_helpers.html">Units Helpers</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/util.html">Util</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/world_object.html">World Object</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/README.html">Core</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/README.html">BDDF</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/base_data_reader.html">Base Data Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/block_writer.html">Block Writer</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/bosdyn.html">BDDF Conventions</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/common.html">Common</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/data_reader.html">Data Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/data_writer.html">Data Writer</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/file_indexer.html">File Indexer</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/grpc_proto_reader.html">GRPC Proto Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/grpc_reader.html">GRPC Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/grpc_service_reader.html">GRPC Service Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/grpc_service_writer.html">GRPC Service Writer</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/message_reader.html">Message Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/pod_series_reader.html">POD Series Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/pod_series_writer.html">POD Series Writer</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/protobuf_channel_reader.html">Protobuf Channel Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/protobuf_reader.html">Protobuf Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/protobuf_series_writer.html">Protobuf Series Writer</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/stream_data_reader.html">Stream Data Reader</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/geometry.html">Geometry</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/util.html">Util</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/deprecated.html">Deprecated</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../../python/bosdyn-mission/src/bosdyn/mission/README.html">Mission</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-mission/src/bosdyn/mission/client.html">Client</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-mission/src/bosdyn/mission/constants.html">Constants</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-mission/src/bosdyn/mission/exceptions.html">Exceptions</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-mission/src/bosdyn/mission/remote_client.html">Remote Client</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-mission/src/bosdyn/mission/server_util.html">Server Util</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-mission/src/bosdyn/mission/util.html">Util</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../../python/bosdyn-choreography-client/src/bosdyn/choreography/client/README.html">Choreography</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-choreography-client/src/bosdyn/choreography/client/choreography.html">Choreography</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-choreography-client/src/bosdyn/choreography/client/animation_file_to_proto.html">Animation File to Proto</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-choreography-client/src/bosdyn/choreography/client/animation_file_conversion_helpers.html">Animation File to Proto Helpers</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../../python/bosdyn-orbit/src/bosdyn/orbit/README.html">Orbit (formerly Scout)</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-orbit/src/bosdyn/orbit/client.html">Client</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-orbit/src/bosdyn/orbit/utils.html">Utils</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-orbit/src/bosdyn/orbit/exceptions.html">Exceptions</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../../python/bosdyn-scout/src/bosdyn/scout/README.html">Scout (deprecated)</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-scout/src/bosdyn/scout/client.html">Client</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-scout/src/bosdyn/scout/utils.html">Utils</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-scout/src/bosdyn/scout/exceptions.html">Exceptions</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/python/fetch_tutorial/fetch1.html">Fetch Tutorial</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/python/fetch_tutorial/fetch2.html">Part 2: Training the Model</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/python/fetch_tutorial/fetch3.html">Part 3: Evaluating the Model</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/python/fetch_tutorial/fetch4.html">Part 4: Autonomous Pick Up</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/python/fetch_tutorial/fetch5.html">Part 5: Detecting People and Playing Fetch</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/python/fetch_tutorial/fetch6.html">Part 6: Running the model on Core IO</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/python/daq_tutorial/daq1.html">Data Collection Tutorial</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/python/daq_tutorial/daq2.html">Part 2: Capturing images</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/python/daq_tutorial/daq3.html">Part 3: Capturing other data</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/python/daq_tutorial/daq4.html">Part 4: Deploying to the CORE I/O</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/python/daq_tutorial/daq5.html">Part 5: Collecting data</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/python/daq_tutorial/daq6.html">Part 6: Processing collected data</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../../../docs/payload/README.html">Payloads</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/payload/payload_configuration_requirements.html">Payload configuration requirements</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/payload/mechanical_interfaces.html">Mechanical interfaces</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/payload/robot_mounting_rails.html">Robot mounting rails</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/payload/guidelines_for_robust_payload_design.html">Guidelines for robust payload design</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/payload/robot_electrical_interface.html">Robot electrical interface</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/payload/coreio_documentation.html">CORE I/O Documentation</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/payload/coreio_openvpn_extension.html">CORE I/O OpenVPN Extension</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/payload/configuring_payload_software.html">Configuring payload software</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/payload/docker_containers.html">Dockerize payload software</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/payload/spot_core_documentation.html">Pre-3.2 Spot CORE Documentation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/payload/spot_core_portainer.html">Configuring Docker containers in SpotCORE</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/payload/spot_core_cockpit.html">Spot CORE system management tool: Cockpit</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../docs/payload/spot_core_vnc.html">Spot CORE VNC</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../../../docs/protos/README.html">API Protocol</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../docs/protos/style_guide.html">Style Guide</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../../protos/bosdyn/api/README.html">Proto Reference Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../protos/bosdyn/api/proto_reference.html">Protos</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../../../docs/release_notes.html">Release Notes</a></li>
<li class="toctree-l1"><a class="reference external" href="https://github.com/boston-dynamics/spot-sdk">SDK Repository</a></li>
</ul>

        </div>
      </div>
    </nav>

    <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
          <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
          <a href="../../../README.html">Spot</a>
      </nav>

      <div class="wy-nav-content">
        <div class="rst-content">
          <div role="navigation" aria-label="Page navigation">
  <ul class="wy-breadcrumbs">
      <li><a href="../../../README.html" class="icon icon-home" aria-label="Home"></a></li>
          <li class="breadcrumb-item"><a href="../../index.html">Module code</a></li>
      <li class="breadcrumb-item active">bosdyn.client.frame_helpers</li>
      <li class="wy-breadcrumbs-aside">
      </li>
  </ul>
  <hr/>
</div>
          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
           <div itemprop="articleBody">
             
  <h1>Source code for bosdyn.client.frame_helpers</h1><div class="highlight"><pre>
<span></span><span class="c1"># Copyright (c) 2023 Boston Dynamics, Inc.  All rights reserved.</span>
<span class="c1">#</span>
<span class="c1"># Downloading, reproducing, distributing or otherwise using the SDK Software</span>
<span class="c1"># is subject to the terms and conditions of the Boston Dynamics Software</span>
<span class="c1"># Development Kit License (20191101-BDSDK-SL).</span>

<span class="kn">from</span> <span class="nn">bosdyn.api</span> <span class="kn">import</span> <span class="n">geometry_pb2</span>

<span class="kn">from</span> <span class="nn">.</span> <span class="kn">import</span> <span class="n">math_helpers</span>

<span class="n">VISION_FRAME_NAME</span> <span class="o">=</span> <span class="s2">&quot;vision&quot;</span>
<span class="n">BODY_FRAME_NAME</span> <span class="o">=</span> <span class="s2">&quot;body&quot;</span>
<span class="c1"># Note that the frame name for a gravity aligned body frame is &quot;flat_body&quot; to create a shorter</span>
<span class="c1"># string identifier.</span>
<span class="n">GRAV_ALIGNED_BODY_FRAME_NAME</span> <span class="o">=</span> <span class="s2">&quot;flat_body&quot;</span>
<span class="n">ODOM_FRAME_NAME</span> <span class="o">=</span> <span class="s2">&quot;odom&quot;</span>
<span class="n">SEED_FRAME_NAME</span> <span class="o">=</span> <span class="s2">&quot;seed&quot;</span>
<span class="n">GROUND_PLANE_FRAME_NAME</span> <span class="o">=</span> <span class="s2">&quot;gpe&quot;</span>
<span class="n">HAND_FRAME_NAME</span> <span class="o">=</span> <span class="s2">&quot;hand&quot;</span>
<span class="n">UNKNOWN_FRAME_NAME</span> <span class="o">=</span> <span class="s2">&quot;unknown&quot;</span>
<span class="n">RAYCAST_FRAME_NAME</span> <span class="o">=</span> <span class="s2">&quot;walkto_raycast_intersection&quot;</span>
<span class="n">TOOL_FRAME_NAME</span> <span class="o">=</span> <span class="s2">&quot;tool&quot;</span>
<span class="n">DESIRED_TOOL_FRAME_NAME</span> <span class="o">=</span> <span class="s2">&quot;desired_tool&quot;</span>
<span class="n">TASK_FRAME_NAME</span> <span class="o">=</span> <span class="s2">&quot;task&quot;</span>
<span class="n">DESIRED_TOOL_AT_END_FRAME_NAME</span> <span class="o">=</span> <span class="s2">&quot;desired_tool_at_end&quot;</span>
<span class="n">MEASURED_TOOL_AT_START_FRAME_NAME</span> <span class="o">=</span> <span class="s2">&quot;measured_tool_at_start&quot;</span>
<span class="n">GAZE_TARGET_FRAME_NAME</span> <span class="o">=</span> <span class="s2">&quot;gaze_target&quot;</span>
<span class="n">FRONT_LEFT_FOOT_FRAME_NAME</span> <span class="o">=</span> <span class="s2">&quot;fl_foot&quot;</span>
<span class="n">FRONT_RIGHT_FOOT_FRAME_NAME</span> <span class="o">=</span> <span class="s2">&quot;fr_foot&quot;</span>
<span class="n">HIND_LEFT_FOOT_FRAME_NAME</span> <span class="o">=</span> <span class="s2">&quot;hl_foot&quot;</span>
<span class="n">HIND_RIGHT_FOOT_FRAME_NAME</span> <span class="o">=</span> <span class="s2">&quot;hr_foot&quot;</span>
<span class="n">FOOT_FRAME_NAMES</span> <span class="o">=</span> <span class="p">[</span>
    <span class="n">FRONT_LEFT_FOOT_FRAME_NAME</span><span class="p">,</span> <span class="n">FRONT_RIGHT_FOOT_FRAME_NAME</span><span class="p">,</span> <span class="n">HIND_LEFT_FOOT_FRAME_NAME</span><span class="p">,</span>
    <span class="n">HIND_RIGHT_FOOT_FRAME_NAME</span>
<span class="p">]</span>
<span class="n">WR1_FRAME_NAME</span> <span class="o">=</span> <span class="s2">&quot;arm0.link_wr1&quot;</span>
<span class="n">WAYPOINT_FRAME_NAME</span> <span class="o">=</span> <span class="s2">&quot;waypoint&quot;</span>


<div class="viewcode-block" id="Error"><a class="viewcode-back" href="../../../python/bosdyn-client/src/bosdyn/client/frame_helpers.html#bosdyn.client.frame_helpers.Error">[docs]</a><span class="k">class</span> <span class="nc">Error</span><span class="p">(</span><span class="ne">Exception</span><span class="p">):</span>
    <span class="k">pass</span></div>


<div class="viewcode-block" id="ValidateFrameTreeError"><a class="viewcode-back" href="../../../python/bosdyn-client/src/bosdyn/client/frame_helpers.html#bosdyn.client.frame_helpers.ValidateFrameTreeError">[docs]</a><span class="k">class</span> <span class="nc">ValidateFrameTreeError</span><span class="p">(</span><span class="n">Error</span><span class="p">):</span>
    <span class="k">pass</span></div>


<div class="viewcode-block" id="ValidateFrameTreeUnknownFrameError"><a class="viewcode-back" href="../../../python/bosdyn-client/src/bosdyn/client/frame_helpers.html#bosdyn.client.frame_helpers.ValidateFrameTreeUnknownFrameError">[docs]</a><span class="k">class</span> <span class="nc">ValidateFrameTreeUnknownFrameError</span><span class="p">(</span><span class="n">ValidateFrameTreeError</span><span class="p">):</span>
    <span class="k">pass</span></div>


<div class="viewcode-block" id="ValidateFrameTreeCycleError"><a class="viewcode-back" href="../../../python/bosdyn-client/src/bosdyn/client/frame_helpers.html#bosdyn.client.frame_helpers.ValidateFrameTreeCycleError">[docs]</a><span class="k">class</span> <span class="nc">ValidateFrameTreeCycleError</span><span class="p">(</span><span class="n">ValidateFrameTreeError</span><span class="p">):</span>
    <span class="k">pass</span></div>


<div class="viewcode-block" id="ValidateFrameTreeDisjointError"><a class="viewcode-back" href="../../../python/bosdyn-client/src/bosdyn/client/frame_helpers.html#bosdyn.client.frame_helpers.ValidateFrameTreeDisjointError">[docs]</a><span class="k">class</span> <span class="nc">ValidateFrameTreeDisjointError</span><span class="p">(</span><span class="n">ValidateFrameTreeError</span><span class="p">):</span>
    <span class="k">pass</span></div>


<div class="viewcode-block" id="validate_frame_tree_snapshot"><a class="viewcode-back" href="../../../python/bosdyn-client/src/bosdyn/client/frame_helpers.html#bosdyn.client.frame_helpers.validate_frame_tree_snapshot">[docs]</a><span class="k">def</span> <span class="nf">validate_frame_tree_snapshot</span><span class="p">(</span><span class="n">frame_tree_snapshot</span><span class="p">):</span>
<span class="w">    </span><span class="sd">&quot;&quot;&quot;Validates that a FrameTreeSnapshot is well-formed.</span>

<span class="sd">    A FrameTreeSnapshot is expected to be a single tree, but poorly written</span>
<span class="sd">    services can misuse the syntax to construct other data structures. The</span>
<span class="sd">    syntax prevents DAGs from forming, but the data structure could</span>

<span class="sd">    Valid FrameTrees must be a single-rooted tree. However, the general format of</span>
<span class="sd">    repeated edges may not actually be valid - there could be cycles, disjoint</span>
<span class="sd">    trees, or missing edges in the actual data structure.</span>

<span class="sd">    Inputs:</span>
<span class="sd">        frame_tree_snapshot: A snapshot of the data.</span>

<span class="sd">    Returns:</span>
<span class="sd">        True if valid</span>

<span class="sd">    Raises:</span>
<span class="sd">        ValidateFrameTreeError in a number of cases: Empty tree, invalid frame names in the tree, missing transforms</span>
<span class="sd">          relating the two nodes, cycles in the tree, the tree is actually a DAG, and disconnected trees.</span>
<span class="sd">    &quot;&quot;&quot;</span>
    <span class="k">if</span> <span class="ow">not</span> <span class="n">frame_tree_snapshot</span><span class="p">:</span>
        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s1">&#39;No frame_tree_snapshot&#39;</span><span class="p">)</span>

    <span class="c1"># For every entry in the map, see if we can walk to the root without</span>
    <span class="c1"># cycles. The root should also be identical for each node</span>

    <span class="k">def</span> <span class="nf">_walk_up_tree</span><span class="p">(</span><span class="n">frame_name</span><span class="p">):</span>
        <span class="n">cur_frame_name</span> <span class="o">=</span> <span class="n">frame_name</span>
        <span class="n">visited_frames</span> <span class="o">=</span> <span class="nb">set</span><span class="p">()</span>
        <span class="n">visited_frames</span><span class="o">.</span><span class="n">add</span><span class="p">(</span><span class="n">cur_frame_name</span><span class="p">)</span>
        <span class="k">while</span> <span class="kc">True</span><span class="p">:</span>
            <span class="n">edge</span> <span class="o">=</span> <span class="n">frame_tree_snapshot</span><span class="o">.</span><span class="n">child_to_parent_edge_map</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="n">cur_frame_name</span><span class="p">)</span>
            <span class="k">if</span> <span class="ow">not</span> <span class="n">edge</span><span class="p">:</span>
                <span class="k">raise</span> <span class="n">ValidateFrameTreeUnknownFrameError</span><span class="p">()</span>
            <span class="k">if</span> <span class="ow">not</span> <span class="n">edge</span><span class="o">.</span><span class="n">parent_frame_name</span><span class="p">:</span>
                <span class="c1"># At the root of the tree</span>
                <span class="k">break</span>
            <span class="k">if</span> <span class="n">edge</span><span class="o">.</span><span class="n">parent_frame_name</span> <span class="ow">in</span> <span class="n">visited_frames</span><span class="p">:</span>
                <span class="k">raise</span> <span class="n">ValidateFrameTreeCycleError</span><span class="p">()</span>
            <span class="n">visited_frames</span><span class="o">.</span><span class="n">add</span><span class="p">(</span><span class="n">edge</span><span class="o">.</span><span class="n">parent_frame_name</span><span class="p">)</span>
            <span class="n">cur_frame_name</span> <span class="o">=</span> <span class="n">edge</span><span class="o">.</span><span class="n">parent_frame_name</span>
        <span class="k">return</span> <span class="n">cur_frame_name</span>

    <span class="n">root</span> <span class="o">=</span> <span class="kc">None</span>
    <span class="k">if</span> <span class="ow">not</span> <span class="n">frame_tree_snapshot</span><span class="o">.</span><span class="n">child_to_parent_edge_map</span><span class="p">:</span>
        <span class="k">raise</span> <span class="n">ValidateFrameTreeError</span><span class="p">(</span><span class="s2">&quot;Empty edges in FrameTreeSnapshot&quot;</span><span class="p">)</span>
    <span class="k">for</span> <span class="n">frame_name</span> <span class="ow">in</span> <span class="n">frame_tree_snapshot</span><span class="o">.</span><span class="n">child_to_parent_edge_map</span><span class="p">:</span>
        <span class="k">if</span> <span class="ow">not</span> <span class="n">frame_name</span><span class="p">:</span>
            <span class="k">raise</span> <span class="n">ValidateFrameTreeError</span><span class="p">(</span><span class="s2">&quot;Empty child frame name&quot;</span><span class="p">)</span>
        <span class="n">cur_root</span> <span class="o">=</span> <span class="n">_walk_up_tree</span><span class="p">(</span><span class="n">frame_name</span><span class="p">)</span>
        <span class="k">if</span> <span class="ow">not</span> <span class="n">root</span><span class="p">:</span>
            <span class="n">root</span> <span class="o">=</span> <span class="n">cur_root</span>
        <span class="k">else</span><span class="p">:</span>
            <span class="k">if</span> <span class="ow">not</span> <span class="n">cur_root</span> <span class="o">==</span> <span class="n">root</span><span class="p">:</span>
                <span class="k">raise</span> <span class="n">ValidateFrameTreeDisjointError</span><span class="p">()</span>

    <span class="k">return</span> <span class="kc">True</span></div>


<div class="viewcode-block" id="get_a_tform_b"><a class="viewcode-back" href="../../../python/bosdyn-client/src/bosdyn/client/frame_helpers.html#bosdyn.client.frame_helpers.get_a_tform_b">[docs]</a><span class="k">def</span> <span class="nf">get_a_tform_b</span><span class="p">(</span><span class="n">frame_tree_snapshot</span><span class="p">,</span> <span class="n">frame_a</span><span class="p">,</span> <span class="n">frame_b</span><span class="p">,</span> <span class="n">validate</span><span class="o">=</span><span class="kc">True</span><span class="p">):</span>
<span class="w">    </span><span class="sd">&quot;&quot;&quot;Get the SE(3) pose representing the transform between frame_a and frame_b.</span>

<span class="sd">    Using frame_tree_snapshot, find the math_helpers.SE3Pose to transform geometry from</span>
<span class="sd">    frame_a&#39;s representation to frame_b&#39;s.</span>

<span class="sd">    Args:</span>
<span class="sd">        frame_tree_snapshot (dict) dictionary representing the child_to_parent_edge_map</span>
<span class="sd">        frame_a (string)</span>
<span class="sd">        frame_b (string)</span>
<span class="sd">        validate (bool) if the FrameTreeSnapshot should be checked for a valid tree structure</span>

<span class="sd">    Returns:</span>
<span class="sd">        math_helpers.SE3Pose between frame_a and frame_b if they exist in the tree. None otherwise.</span>
<span class="sd">    &quot;&quot;&quot;</span>
    <span class="k">if</span> <span class="n">validate</span><span class="p">:</span>
        <span class="n">validate_frame_tree_snapshot</span><span class="p">(</span><span class="n">frame_tree_snapshot</span><span class="p">)</span>

    <span class="k">if</span> <span class="n">frame_a</span> <span class="ow">not</span> <span class="ow">in</span> <span class="n">frame_tree_snapshot</span><span class="o">.</span><span class="n">child_to_parent_edge_map</span><span class="p">:</span>
        <span class="k">return</span> <span class="kc">None</span>
    <span class="k">if</span> <span class="n">frame_b</span> <span class="ow">not</span> <span class="ow">in</span> <span class="n">frame_tree_snapshot</span><span class="o">.</span><span class="n">child_to_parent_edge_map</span><span class="p">:</span>
        <span class="k">return</span> <span class="kc">None</span>

    <span class="k">def</span> <span class="nf">_list_parent_edges</span><span class="p">(</span><span class="n">leaf_frame</span><span class="p">):</span>
        <span class="n">parent_edges</span> <span class="o">=</span> <span class="p">[]</span>
        <span class="n">cur_frame</span> <span class="o">=</span> <span class="n">leaf_frame</span>
        <span class="k">while</span> <span class="kc">True</span><span class="p">:</span>
            <span class="n">parent_edge</span> <span class="o">=</span> <span class="n">frame_tree_snapshot</span><span class="o">.</span><span class="n">child_to_parent_edge_map</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="n">cur_frame</span><span class="p">)</span>
            <span class="k">if</span> <span class="ow">not</span> <span class="n">parent_edge</span><span class="o">.</span><span class="n">parent_frame_name</span><span class="p">:</span>
                <span class="k">break</span>
            <span class="n">parent_edges</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">parent_edge</span><span class="p">)</span>
            <span class="n">cur_frame</span> <span class="o">=</span> <span class="n">parent_edge</span><span class="o">.</span><span class="n">parent_frame_name</span>
        <span class="k">return</span> <span class="n">parent_edges</span>

    <span class="n">inverse_edges</span> <span class="o">=</span> <span class="n">_list_parent_edges</span><span class="p">(</span><span class="n">frame_a</span><span class="p">)</span>
    <span class="n">forward_edges</span> <span class="o">=</span> <span class="n">_list_parent_edges</span><span class="p">(</span><span class="n">frame_b</span><span class="p">)</span>

    <span class="c1"># Possible optimization: Nearest common ancestor pruning.</span>

    <span class="k">def</span> <span class="nf">_accumulate_transforms</span><span class="p">(</span><span class="n">parent_edges</span><span class="p">):</span>
        <span class="n">ret</span> <span class="o">=</span> <span class="n">math_helpers</span><span class="o">.</span><span class="n">SE3Pose</span><span class="o">.</span><span class="n">from_identity</span><span class="p">()</span>
        <span class="k">for</span> <span class="n">parent_edge</span> <span class="ow">in</span> <span class="n">parent_edges</span><span class="p">:</span>
            <span class="n">ret</span> <span class="o">=</span> <span class="n">math_helpers</span><span class="o">.</span><span class="n">SE3Pose</span><span class="o">.</span><span class="n">from_proto</span><span class="p">(</span><span class="n">parent_edge</span><span class="o">.</span><span class="n">parent_tform_child</span><span class="p">)</span> <span class="o">*</span> <span class="n">ret</span>
        <span class="k">return</span> <span class="n">ret</span>

    <span class="n">frame_a_tform_root_frame</span> <span class="o">=</span> <span class="n">_accumulate_transforms</span><span class="p">(</span><span class="n">inverse_edges</span><span class="p">)</span><span class="o">.</span><span class="n">inverse</span><span class="p">()</span>
    <span class="n">root_frame_tform_frame_b</span> <span class="o">=</span> <span class="n">_accumulate_transforms</span><span class="p">(</span><span class="n">forward_edges</span><span class="p">)</span>
    <span class="k">return</span> <span class="n">frame_a_tform_root_frame</span> <span class="o">*</span> <span class="n">root_frame_tform_frame_b</span></div>


<div class="viewcode-block" id="get_se2_a_tform_b"><a class="viewcode-back" href="../../../python/bosdyn-client/src/bosdyn/client/frame_helpers.html#bosdyn.client.frame_helpers.get_se2_a_tform_b">[docs]</a><span class="k">def</span> <span class="nf">get_se2_a_tform_b</span><span class="p">(</span><span class="n">frame_tree_snapshot</span><span class="p">,</span> <span class="n">frame_a</span><span class="p">,</span> <span class="n">frame_b</span><span class="p">,</span> <span class="n">validate</span><span class="o">=</span><span class="kc">True</span><span class="p">):</span>
<span class="w">    </span><span class="sd">&quot;&quot;&quot;Get the SE(2) pose representing the transform between frame_a and frame_b.</span>

<span class="sd">    Using frame_tree_snapshot, find the math_helpers.SE2Pose to transform geometry from</span>
<span class="sd">    frame_a&#39;s representation to frame_b&#39;s.</span>

<span class="sd">    Args:</span>
<span class="sd">        frame_tree_snapshot (dict) dictionary representing the child_to_parent_edge_map</span>
<span class="sd">        frame_a (string)</span>
<span class="sd">        frame_b (string)</span>
<span class="sd">        validate (bool) if the FrameTreeSnapshot should be checked for a valid tree structure</span>

<span class="sd">    Returns:</span>
<span class="sd">        math_helpers.SE2Pose between frame_a and frame_b if they exist in the tree and</span>
<span class="sd">        frame_a is a gravity aligned frame. None otherwise.</span>
<span class="sd">    &quot;&quot;&quot;</span>
    <span class="c1"># Validate that the transform is in a gravity aligned frame based on the string name.</span>
    <span class="k">if</span> <span class="ow">not</span> <span class="n">is_gravity_aligned_frame_name</span><span class="p">(</span><span class="n">frame_a</span><span class="p">):</span>
        <span class="c1"># Frame A is not gravity aligned, and therefore a_tform_b cannot be converted into</span>
        <span class="c1"># an SE(2) pose because it will lose height information.</span>
        <span class="k">return</span> <span class="kc">None</span>
    <span class="c1"># Get the SE(3) pose from the frame tree snapshot representing the desired transform a_tform_b</span>
    <span class="n">se3_a_tform_b</span> <span class="o">=</span> <span class="n">get_a_tform_b</span><span class="p">(</span><span class="n">frame_tree_snapshot</span><span class="p">,</span> <span class="n">frame_a</span><span class="p">,</span> <span class="n">frame_b</span><span class="p">,</span> <span class="n">validate</span><span class="p">)</span>
    <span class="k">if</span> <span class="n">se3_a_tform_b</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
        <span class="c1"># Failed to find the transformation between frames a and b in the frame tree snapshot.</span>
        <span class="k">return</span> <span class="kc">None</span>
    <span class="k">return</span> <span class="n">se3_a_tform_b</span><span class="o">.</span><span class="n">get_closest_se2_transform</span><span class="p">()</span></div>


<div class="viewcode-block" id="express_se2_velocity_in_new_frame"><a class="viewcode-back" href="../../../python/bosdyn-client/src/bosdyn/client/frame_helpers.html#bosdyn.client.frame_helpers.express_se2_velocity_in_new_frame">[docs]</a><span class="k">def</span> <span class="nf">express_se2_velocity_in_new_frame</span><span class="p">(</span><span class="n">frame_tree_snapshot</span><span class="p">,</span> <span class="n">frame_b</span><span class="p">,</span> <span class="n">frame_c</span><span class="p">,</span> <span class="n">vel_of_a_in_b</span><span class="p">,</span>
                                      <span class="n">validate</span><span class="o">=</span><span class="kc">True</span><span class="p">):</span>
<span class="w">    </span><span class="sd">&quot;&quot;&quot;Convert the SE2 Velocity in frame b to a SE2 Velocity in frame c using</span>
<span class="sd">       the frame tree snapshot.</span>

<span class="sd">    Args:</span>
<span class="sd">        frame_tree_snapshot (dict) dictionary representing the child_to_parent_edge_map</span>
<span class="sd">        frame_b (string)</span>
<span class="sd">        frame_c (string)</span>
<span class="sd">        vel_of_a_in_b (SE2Velocity proto) SE2 Velocity in frame_b</span>
<span class="sd">        validate (bool) if the FrameTreeSnapshot should be checked for a valid tree structure</span>

<span class="sd">    Returns:</span>
<span class="sd">        math_helpers.SE2Velocity velocity_of_a_in_c in frame_c if the frames exist in the tree. None otherwise.</span>
<span class="sd">    &quot;&quot;&quot;</span>
    <span class="c1"># Find the SE(3) pose in the frame tree snapshot that represents c_tform_b.</span>
    <span class="n">se3_c_tform_b</span> <span class="o">=</span> <span class="n">get_a_tform_b</span><span class="p">(</span><span class="n">frame_tree_snapshot</span><span class="p">,</span> <span class="n">frame_c</span><span class="p">,</span> <span class="n">frame_b</span><span class="p">,</span> <span class="n">validate</span><span class="p">)</span>
    <span class="k">if</span> <span class="n">se3_c_tform_b</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
        <span class="c1"># If the SE3Pose for c_tform_b does not exist in the frame tree snapshot,</span>
        <span class="c1"># then we cannot transform the velocity.</span>
        <span class="k">return</span> <span class="kc">None</span>
    <span class="c1"># Check that the frame name of frame_c is considered to be a gravity aligned frame.</span>
    <span class="k">if</span> <span class="ow">not</span> <span class="n">is_gravity_aligned_frame_name</span><span class="p">(</span><span class="n">frame_c</span><span class="p">):</span>
        <span class="c1"># Frame C is not gravity aligned, and therefore c_tform_b cannot be converted into</span>
        <span class="c1"># an SE(2) pose because it will lose height information.</span>
        <span class="k">return</span> <span class="kc">None</span>
    <span class="c1"># Find the closest SE(2) pose for the c_tform_b SE(3) pose found from the snapshot.</span>
    <span class="n">se2_c_tform_b</span> <span class="o">=</span> <span class="n">se3_c_tform_b</span><span class="o">.</span><span class="n">get_closest_se2_transform</span><span class="p">()</span>
    <span class="c1"># Transform the velocity into the new frame to get vel_of_a_in_c.</span>
    <span class="n">c_adjoint_b</span> <span class="o">=</span> <span class="n">se2_c_tform_b</span><span class="o">.</span><span class="n">to_adjoint_matrix</span><span class="p">()</span>
    <span class="n">vel_of_a_in_c</span> <span class="o">=</span> <span class="n">math_helpers</span><span class="o">.</span><span class="n">transform_se2velocity</span><span class="p">(</span><span class="n">c_adjoint_b</span><span class="p">,</span> <span class="n">vel_of_a_in_b</span><span class="p">)</span>
    <span class="k">return</span> <span class="n">vel_of_a_in_c</span></div>


<div class="viewcode-block" id="express_se3_velocity_in_new_frame"><a class="viewcode-back" href="../../../python/bosdyn-client/src/bosdyn/client/frame_helpers.html#bosdyn.client.frame_helpers.express_se3_velocity_in_new_frame">[docs]</a><span class="k">def</span> <span class="nf">express_se3_velocity_in_new_frame</span><span class="p">(</span><span class="n">frame_tree_snapshot</span><span class="p">,</span> <span class="n">frame_b</span><span class="p">,</span> <span class="n">frame_c</span><span class="p">,</span> <span class="n">vel_of_a_in_b</span><span class="p">,</span>
                                      <span class="n">validate</span><span class="o">=</span><span class="kc">True</span><span class="p">):</span>
<span class="w">    </span><span class="sd">&quot;&quot;&quot;Convert the SE(3) Velocity in frame b to an SE(3) Velocity in frame c using</span>
<span class="sd">       the frame tree snapshot.</span>

<span class="sd">    Args:</span>
<span class="sd">        frame_tree_snapshot (dict) dictionary representing the child_to_parent_edge_map</span>
<span class="sd">        frame_b (string)</span>
<span class="sd">        frame_c (string)</span>
<span class="sd">        vel_of_a_in_b (SE3Velocity proto) SE(3) Velocity in frame_b</span>
<span class="sd">        validate (bool) if the FrameTreeSnapshot should be checked for a valid tree structure</span>

<span class="sd">    Returns:</span>
<span class="sd">        math_helpers.SE3Velocity velocity_of_a_in_c in frame_c if the frames exist in the tree. None otherwise.</span>
<span class="sd">    &quot;&quot;&quot;</span>
    <span class="c1"># Find the SE(3) pose in the frame tree snapshot that represents c_tform_b.</span>
    <span class="n">se3_c_tform_b</span> <span class="o">=</span> <span class="n">get_a_tform_b</span><span class="p">(</span><span class="n">frame_tree_snapshot</span><span class="p">,</span> <span class="n">frame_c</span><span class="p">,</span> <span class="n">frame_b</span><span class="p">,</span> <span class="n">validate</span><span class="p">)</span>
    <span class="k">if</span> <span class="n">se3_c_tform_b</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
        <span class="c1"># If the SE3Pose for c_tform_b does not exist in the frame tree snapshot,</span>
        <span class="c1"># then we cannot transform the velocity.</span>
        <span class="k">return</span> <span class="kc">None</span>
    <span class="c1"># Transform the velocity into the new frame to get vel_of_a_in_c.</span>
    <span class="n">c_adjoint_b</span> <span class="o">=</span> <span class="n">se3_c_tform_b</span><span class="o">.</span><span class="n">to_adjoint_matrix</span><span class="p">()</span>
    <span class="n">vel_of_a_in_c</span> <span class="o">=</span> <span class="n">math_helpers</span><span class="o">.</span><span class="n">transform_se3velocity</span><span class="p">(</span><span class="n">c_adjoint_b</span><span class="p">,</span> <span class="n">vel_of_a_in_b</span><span class="p">)</span>
    <span class="k">return</span> <span class="n">vel_of_a_in_c</span></div>


<div class="viewcode-block" id="get_odom_tform_body"><a class="viewcode-back" href="../../../python/bosdyn-client/src/bosdyn/client/frame_helpers.html#bosdyn.client.frame_helpers.get_odom_tform_body">[docs]</a><span class="k">def</span> <span class="nf">get_odom_tform_body</span><span class="p">(</span><span class="n">frame_tree_snapshot</span><span class="p">):</span>
<span class="w">    </span><span class="sd">&quot;&quot;&quot;Get the transformation between &quot;odom&quot; frame and &quot;body&quot; frame from the FrameTreeSnapshot.&quot;&quot;&quot;</span>
    <span class="k">return</span> <span class="n">get_a_tform_b</span><span class="p">(</span><span class="n">frame_tree_snapshot</span><span class="p">,</span> <span class="n">ODOM_FRAME_NAME</span><span class="p">,</span> <span class="n">BODY_FRAME_NAME</span><span class="p">)</span></div>


<div class="viewcode-block" id="get_vision_tform_body"><a class="viewcode-back" href="../../../python/bosdyn-client/src/bosdyn/client/frame_helpers.html#bosdyn.client.frame_helpers.get_vision_tform_body">[docs]</a><span class="k">def</span> <span class="nf">get_vision_tform_body</span><span class="p">(</span><span class="n">frame_tree_snapshot</span><span class="p">):</span>
<span class="w">    </span><span class="sd">&quot;&quot;&quot;Get the transformation between &quot;vision&quot; frame and &quot;body&quot; frame from the FrameTreeSnapshot.&quot;&quot;&quot;</span>
    <span class="k">return</span> <span class="n">get_a_tform_b</span><span class="p">(</span><span class="n">frame_tree_snapshot</span><span class="p">,</span> <span class="n">VISION_FRAME_NAME</span><span class="p">,</span> <span class="n">BODY_FRAME_NAME</span><span class="p">)</span></div>


<div class="viewcode-block" id="GenerateTreeError"><a class="viewcode-back" href="../../../python/bosdyn-client/src/bosdyn/client/frame_helpers.html#bosdyn.client.frame_helpers.GenerateTreeError">[docs]</a><span class="k">class</span> <span class="nc">GenerateTreeError</span><span class="p">(</span><span class="n">Error</span><span class="p">):</span>
    <span class="k">pass</span></div>


<div class="viewcode-block" id="ChildFrameInTree"><a class="viewcode-back" href="../../../python/bosdyn-client/src/bosdyn/client/frame_helpers.html#bosdyn.client.frame_helpers.ChildFrameInTree">[docs]</a><span class="k">class</span> <span class="nc">ChildFrameInTree</span><span class="p">(</span><span class="n">GenerateTreeError</span><span class="p">):</span>
    <span class="k">pass</span></div>


<div class="viewcode-block" id="add_edge_to_tree"><a class="viewcode-back" href="../../../python/bosdyn-client/src/bosdyn/client/frame_helpers.html#bosdyn.client.frame_helpers.add_edge_to_tree">[docs]</a><span class="k">def</span> <span class="nf">add_edge_to_tree</span><span class="p">(</span><span class="n">frame_tree_snapshot</span><span class="p">,</span> <span class="n">parent_tform_child</span><span class="p">,</span> <span class="n">parent_frame_name</span><span class="p">,</span> <span class="n">child_frame_name</span><span class="p">):</span>
<span class="w">    </span><span class="sd">&quot;&quot;&quot;Appends a child/parent and the transform to the FrameTreeSnapshot.</span>

<span class="sd">       Args:</span>
<span class="sd">            frame_tree_snapshot (dict) dictionary representing the child_to_parent_edge_map</span>
<span class="sd">            parent_tform_child (SE3Pose proto)</span>
<span class="sd">            parent_frame_name (string)</span>
<span class="sd">            child_frame_name (string)</span>
<span class="sd">    &quot;&quot;&quot;</span>
    <span class="k">if</span> <span class="n">child_frame_name</span> <span class="ow">in</span> <span class="n">frame_tree_snapshot</span><span class="p">:</span>
        <span class="k">raise</span> <span class="n">ChildFrameInTree</span>
    <span class="c1"># Can add additional validation checks, such as if the parent frame will make a cycle,</span>
    <span class="c1"># or if this will be completely disconnected</span>
    <span class="n">frame_tree_snapshot</span><span class="p">[</span><span class="n">child_frame_name</span><span class="p">]</span> <span class="o">=</span> <span class="n">geometry_pb2</span><span class="o">.</span><span class="n">FrameTreeSnapshot</span><span class="o">.</span><span class="n">ParentEdge</span><span class="p">(</span>
        <span class="n">parent_frame_name</span><span class="o">=</span><span class="n">parent_frame_name</span><span class="p">,</span> <span class="n">parent_tform_child</span><span class="o">=</span><span class="n">parent_tform_child</span><span class="p">)</span>
    <span class="k">return</span> <span class="n">frame_tree_snapshot</span></div>


<div class="viewcode-block" id="get_frame_names"><a class="viewcode-back" href="../../../python/bosdyn-client/src/bosdyn/client/frame_helpers.html#bosdyn.client.frame_helpers.get_frame_names">[docs]</a><span class="k">def</span> <span class="nf">get_frame_names</span><span class="p">(</span><span class="n">frame_tree_snapshot</span><span class="p">):</span>
<span class="w">    </span><span class="sd">&quot;&quot;&quot;Returns a list of all known child or parent frames in the FrameTreeSnapshot.&quot;&quot;&quot;</span>
    <span class="n">frame_names</span> <span class="o">=</span> <span class="p">[]</span>
    <span class="k">for</span> <span class="n">child_frame</span> <span class="ow">in</span> <span class="n">frame_tree_snapshot</span><span class="o">.</span><span class="n">child_to_parent_edge_map</span><span class="p">:</span>
        <span class="k">if</span> <span class="n">child_frame</span> <span class="ow">not</span> <span class="ow">in</span> <span class="n">frame_names</span><span class="p">:</span>
            <span class="n">frame_names</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">child_frame</span><span class="p">)</span>
        <span class="n">parent_frame</span> <span class="o">=</span> <span class="n">frame_tree_snapshot</span><span class="o">.</span><span class="n">child_to_parent_edge_map</span><span class="p">[</span><span class="n">child_frame</span><span class="p">]</span><span class="o">.</span><span class="n">parent_frame_name</span>
        <span class="k">if</span> <span class="n">parent_frame</span> <span class="ow">not</span> <span class="ow">in</span> <span class="n">frame_names</span><span class="p">:</span>
            <span class="n">frame_names</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">parent_frame</span><span class="p">)</span>
    <span class="k">return</span> <span class="p">[</span><span class="n">frame_name</span> <span class="k">for</span> <span class="n">frame_name</span> <span class="ow">in</span> <span class="n">frame_names</span> <span class="k">if</span> <span class="n">frame_name</span> <span class="o">!=</span> <span class="s2">&quot;&quot;</span><span class="p">]</span></div>


<div class="viewcode-block" id="is_gravity_aligned_frame_name"><a class="viewcode-back" href="../../../python/bosdyn-client/src/bosdyn/client/frame_helpers.html#bosdyn.client.frame_helpers.is_gravity_aligned_frame_name">[docs]</a><span class="k">def</span> <span class="nf">is_gravity_aligned_frame_name</span><span class="p">(</span><span class="n">frame_name</span><span class="p">):</span>
<span class="w">    </span><span class="sd">&quot;&quot;&quot;Checks if the string frame name is a known gravity aligned frame.&quot;&quot;&quot;</span>
    <span class="k">if</span> <span class="n">frame_name</span> <span class="o">==</span> <span class="n">VISION_FRAME_NAME</span> <span class="ow">or</span> <span class="n">frame_name</span> <span class="o">==</span> <span class="n">GRAV_ALIGNED_BODY_FRAME_NAME</span> <span class="ow">or</span> <span class="n">frame_name</span> <span class="o">==</span> <span class="n">ODOM_FRAME_NAME</span><span class="p">:</span>
        <span class="k">return</span> <span class="kc">True</span>
    <span class="k">return</span> <span class="kc">False</span></div>
</pre></div>

           </div>
          </div>
          <footer>
  

  <hr/>

  <div role="contentinfo">
    <p>
      
      &copy; Copyright 2025 Boston Dynamics. All rights reserved.
      <a href="https://www.bostondynamics.com/privacy-policy">Privacy Policy</a> | 
      <a href="https://www.bostondynamics.com/terms">Terms of Use</a>

    </p>
  </div> 

</footer>
        </div>
      </div>
    </section>
  </div>
  <script>
      jQuery(function () {
          SphinxRtdTheme.Navigation.enable(false);
      });
  </script>
    <!-- Theme Analytics -->
    <script async src="https://www.googletagmanager.com/gtag/js?id=UA-XXXXXXX-1"></script>
    <script>
      window.dataLayer = window.dataLayer || [];
      function gtag(){dataLayer.push(arguments);}
      gtag('js', new Date());

      gtag('config', 'UA-XXXXXXX-1', {
          'anonymize_ip': false,
      });
    </script> 

</body>
</html>